添加UDP网络延时记录器

动力学和半实物接口添加UDP网络监控功能
2024-01-22 13:10:10 +08:00 · 2024-01-22 13:10:10 +08:00 · 62b44a0cc6
commit 62b44a0cc6
parent f97df40b5a
18 changed files with 1623 additions and 1114 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit f9f2cabf35774b9be45afd6474a4d40f32a7da36
+Subproject commit 3a30efc9fe949cd5ab9898073f00a093716f279e
--- a/dto/data_proto/stationLayoutGraphics.pb.go
+++ b/dto/data_proto/stationLayoutGraphics.pb.go
@ -3214,7 +3214,7 @@ type Transponder struct {
 	Type                Transponder_TransponderTypeEnum `protobuf:"varint,9,opt,name=type,proto3,enum=graphicData.Transponder_TransponderTypeEnum" json:"type,omitempty"` //应答器类型
 	CentralizedStations []uint32                        `protobuf:"varint,10,rep,packed,name=centralizedStations,proto3" json:"centralizedStations,omitempty"`            // 集中站Id列表
 	FixedTelegram       string                          `protobuf:"bytes,11,opt,name=fixedTelegram,proto3" json:"fixedTelegram,omitempty"`                                //应答器固定报文
-	UserTelegram        string                          `protobuf:"bytes,12,opt,name=userTelegram,proto3" json:"userTelegram,omitempty"`                                  //应答器用户报文
+	FixedUserTelegram   string                          `protobuf:"bytes,12,opt,name=fixedUserTelegram,proto3" json:"fixedUserTelegram,omitempty"`                        //应答器固定用户报文
 }
 func (x *Transponder) Reset() {
@ -3305,9 +3305,9 @@ func (x *Transponder) GetFixedTelegram() string {
 	return ""
 }
-func (x *Transponder) GetUserTelegram() string {
+func (x *Transponder) GetFixedUserTelegram() string {
 	if x != nil {
-		return x.UserTelegram
+		return x.FixedUserTelegram
 	}
 	return ""
 }
@ -5778,7 +5778,7 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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@ -5805,341 +5805,342 @@ var file_stationLayoutGraphics_proto_rawDesc = []byte{
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 	0x6f, 0x79, 0x6c, 0x69, 0x6e, 0x6b, 0x2e, 0x63, 0x6c, 0x75, 0x62, 0x2f, 0x62, 0x6a, 0x2d, 0x72,
 	0x74, 0x73, 0x74, 0x73, 0x2d, 0x73, 0x65, 0x72, 0x76, 0x65, 0x72, 0x2f, 0x64, 0x74, 0x6f, 0x2f,
 	0x64, 0x61, 0x74, 0x61, 0x5f, 0x70, 0x72, 0x6f, 0x74, 0x6f, 0x62, 0x06, 0x70, 0x72, 0x6f, 0x74,
 	0x6f, 0x33,
 }
 var (
--- a/dto/state_proto/device_state.pb.go
+++ b/dto/state_proto/device_state.pb.go
--- a/example/mock_train_service/main.go
+++ b/example/mock_train_service/main.go
@ -22,7 +22,7 @@ var ti = &ReceiveTrainInfo{
 var trainRun bool
 var IP = net.IPv4(192, 168, 3, 7)
-var SendIP = net.IPv4(192, 168, 3, 233)
+var SendIP = net.IPv4(192, 168, 3, 7)
 func main() {
 	listen, err := net.ListenUDP("udp", &net.UDPAddr{
--- a/main.go
+++ b/main.go
@ -10,8 +10,6 @@ import (
 	"joylink.club/bj-rtsts-server/docs"
 	"joylink.club/bj-rtsts-server/middleware"
 	"joylink.club/bj-rtsts-server/mqtt"
 	"joylink.club/bj-rtsts-server/third_party"
 )
 //	@title			CBTC测试系统API
@ -28,7 +26,6 @@ import (
 func main() {
 	engine := InitServer()
 	mqtt.Startup(mqtt.NewMqttOptions(config.Config.Messaging.Mqtt.Address, config.Config.Messaging.Mqtt.Username, config.Config.Messaging.Mqtt.Password))
 	third_party.Init()
 	authMiddleware := middleware.InitGinJwtMiddleware()
 	router := engine.Group("/api")
 	api.InitUserRouter(router, authMiddleware)
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit ba95c8bdefed2ba5803a222c55bdd33b40e47f12
+Subproject commit d94a8335dcffbb44d7d865d8b7200da335e2241f
--- a/third_party/axle_device/rssp_channel.go
+++ b/third_party/axle_device/rssp_channel.go
@ -2,10 +2,11 @@ package axle_device
 import (
 	"fmt"
 	"log/slog"
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 	"log/slog"
 )
 // 铁路信号安全通信协议实现
@ -48,8 +49,8 @@ func (s *RsspChannel) Init(config *config.RsspConfig) *RsspChannel {
 	s.config = config
 	s.rsspTimer = &RsspTimer{t: 0}
 	s.sn = message.NewRsspSn(1)
-	s.ch1Ts = message.NewRsspLFSR(message.RsspTsC1, 32, s.config.SID1, false)
+	s.ch1Ts = message.NewRsspLFSR(message.RSSP_I_C1_TS, 32, s.config.SID1, false)
-	s.ch2Ts = message.NewRsspLFSR(message.RsspTsC2, 32, s.config.SID2, false)
+	s.ch2Ts = message.NewRsspLFSR(message.RSSP_I_C2_TS, 32, s.config.SID2, false)
 	return s
 }
@ -178,11 +179,11 @@ func (s *RsspChannel) handleRsspRsd(rsd *message.RsspRsd) {
 		return
 	}
 	//SVC校验
-	c1Crc32 := message.RsspC1Crc32(rsd.Sad)
+	c1Crc32 := message.Rssp_I_Crc32C1(rsd.Sad)
-	c1SidTs := c1Crc32 ^ rsd.Svc1 ^ message.SCW_C1 //T(n)
+	c1SidTs := c1Crc32 ^ rsd.Svc1 ^ message.RSSP_I_C1_SCW //T(n)
 	//
-	c2Crc32 := message.RsspC2Crc32(rsd.Sad)
+	c2Crc32 := message.Rssp_I_Crc32C2(rsd.Sad)
-	c2SidTs := c2Crc32 ^ rsd.Svc2 ^ message.SCW_C2 //T(n)
+	c2SidTs := c2Crc32 ^ rsd.Svc2 ^ message.RSSP_I_C2_SCW //T(n)
 	//todo ... SVC校验待完善
 	_ = c1SidTs
 	_ = c2SidTs
@ -291,11 +292,11 @@ func (s *RsspChannel) SendUserData(userData []byte) {
 	rsd.Sn = s.sn.Get()
 	rsd.Sdl = uint16(len(userData) + 8)
 	//安全校验通道SVC_1
-	crc_c1 := message.RsspC1Crc32(userData)
+	crc_c1 := message.Rssp_I_Crc32C1(userData)
-	rsd.Svc1 = s.createSvcCode(crc_c1, s.config.SID1, s.ch1Ts.Get(), message.SCW_C1)
+	rsd.Svc1 = s.createSvcCode(crc_c1, s.config.SID1, s.ch1Ts.Get(), message.RSSP_I_C1_SCW)
 	//安全校验通道SVC_2
-	crc_c2 := message.RsspC2Crc32(userData)
+	crc_c2 := message.Rssp_I_Crc32C2(userData)
-	rsd.Svc1 = s.createSvcCode(crc_c2, s.config.SID2, s.ch2Ts.Get(), message.SCW_C2)
+	rsd.Svc1 = s.createSvcCode(crc_c2, s.config.SID2, s.ch2Ts.Get(), message.RSSP_I_C2_SCW)
 	rsd.Sad = userData
 	//
 	rsspPack := rsd.Encode()
--- a/third_party/dynamics/dynamics.go
+++ b/third_party/dynamics/dynamics.go
@ -14,6 +14,7 @@ import (
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/sys_error"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/tpapi"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 )
@ -26,6 +27,7 @@ type DynamicsMessageManager interface {
 // 动力学接口
 type Dynamics interface {
 	tpapi.ThirdPartyApiService
 	// 请求添加列车
 	RequestAddTrain(info *message.InitTrainInfo) error
 	// 请求移除列车
@ -44,20 +46,34 @@ type Dynamics interface {
 var _default Dynamics
 var initMutex sync.Mutex
 const Interval = 15
 func Default() Dynamics {
 	initMutex.Lock()
 	defer initMutex.Unlock()
 	if _default == nil {
-		_default = &dynamics{}
+		_default = &dynamics{
 			ThirdPartyApiService: tpapi.NewThirdPartyApiService(),
 			udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) {
 				if err != nil {
 					_default.UpdateState(tpapi.ThirdPartyState_Broken)
 				} else {
 					_default.UpdateState(tpapi.ThirdPartyState_Normal)
 				}
 			}),
 		}
 	}
 	return _default
 }
 type dynamics struct {
 	tpapi.ThirdPartyApiService
 	trainInfoUdpServer    udp.UdpServer
 	turnoutStateUdpClient udp.UdpClient
 	trainControlUdpClient udp.UdpClient
 	udpDelayRecorder *tpapi.UdpDelayRecorder
 	baseUrl           string
 	httpClient        *http.Client
 	manager           DynamicsMessageManager
@ -67,6 +83,7 @@ type dynamics struct {
 // 解码列车信息并处理
 func (d *dynamics) handleDynamicsTrainInfo(b []byte) {
 	d.udpDelayRecorder.RecordInterval()
 	trainInfo := &message.DynamicsTrainInfo{}
 	err := trainInfo.Decode(b)
 	if err != nil {
@ -176,10 +193,10 @@ func (d *dynamics) TrainOperationConfig(req *message.TrainOperationConfig) error
 	data, _ := json.Marshal(req)
 	url := d.buildUrl("/api/config")
 	resp, err := d.httpClient.Post(url, "application/json", bytes.NewBuffer(data))
 	defer resp.Body.Close()
 	if err != nil {
 		return fmt.Errorf("动力学移除列车请求异常: %v", err)
 	}
 	defer resp.Body.Close()
 	var bodyData []byte
 	_, err = resp.Body.Read(bodyData)
 	if err != nil {
@ -210,6 +227,8 @@ func (d *dynamics) Start(manager DynamicsMessageManager) error {
 	ctx, cancle := context.WithCancel(context.Background())
 	go d.sendTurnoutStateTask(ctx)
 	d.turnoutTaskCancel = cancle
 	d.UpdateState(tpapi.ThirdPartyState_Normal)
 	d.udpDelayRecorder.Start()
 	return nil
 }
@ -236,7 +255,8 @@ func (d *dynamics) initDynamicsRunRepository() error {
 func (d *dynamics) Stop() {
 	initMutex.Lock()
 	defer initMutex.Unlock()
-	_default = nil
+	// 停止网络监听
 	d.udpDelayRecorder.Stop()
 	if d.httpClient != nil {
 		d.requestStopSimulation()
 		d.httpClient = nil
@ -254,6 +274,7 @@ func (d *dynamics) Stop() {
 		d.turnoutTaskCancel()
 	}
 	d.manager = nil
 	d.UpdateState(tpapi.ThirdPartyState_Closed)
 }
 const (
--- a/third_party/example/rssp/main.go
+++ b/third_party/example/rssp/main.go
@ -2,14 +2,15 @@ package main
 import (
 	"fmt"
 	"time"
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/third_party/example/rssp/ci"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"time"
 )
 func main() {
-	message.InitRsspCrcTable()
+	// message.InitRsspCrcTable()
 	ci.InitCiServerCodePoints()
 	//
 	cfg := &config.RsspAxleConfig{}
--- a/third_party/message/can_atp_req.go
+++ b/third_party/message/can_atp_req.go
@ -145,7 +145,7 @@ func (f *AtpRequestFrame) Decode(cf *CanetFrame) bool {
 	} else {
 		return false
 	}
-	crc16 := calculateAtpReqCrc16(timeArr)
+	crc16 := Can_Crc16(timeArr)
 	t1 := uint32(timeArr[0])
 	t2 := uint32(timeArr[1])
 	t3 := uint32(timeArr[2])
@ -211,7 +211,7 @@ func (f *AtpRequestFrame) Encode() *CanetFrame {
 		bits.AddByte(timeByte)
 	}
 	//crc
-	crc16 := calculateAtpReqCrc16(timeArr)
+	crc16 := Can_Crc16(timeArr)
 	bits.AddByte(byte(crc16 >> 8))
 	bits.AddByte(byte(crc16))
 	//
--- a/third_party/message/can_btm_rsp.go
+++ b/third_party/message/can_btm_rsp.go
@ -44,7 +44,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		var crc32AData []byte
 		crc32AData = append(crc32AData, msg...)
 		crc32AData = append(crc32AData, canTimeToBytes(dtA.TimeA)...)
-		dtA.Crc32A = calculateDataRspCrc32A(crc32AData) //CRC32A的校验范围是：报文+时间戳A
+		dtA.Crc32A = Can_Crc32(crc32AData) //CRC32A的校验范围是：报文+时间戳A
 	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
 		dtA.Crc32A = 0xff_ff_ff_ff
 	}
@ -55,7 +55,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 		var crc32BData []byte
 		crc32BData = append(crc32BData, msg...)
 		crc32BData = append(crc32BData, canTimeToBytes(dtB.TimeB)...)
-		dtB.Crc32B = calculateDataRspCrc32B(crc32BData) //CRC32B的校验范围是：报文+时间戳B
+		dtB.Crc32B = Can_Crc32(crc32BData) //CRC32B的校验范围是：报文+时间戳B
 	} else { //BTM解包发生错误，则数据帧及CRC32A/B全填“0xFF”
 		dtB.Crc32B = 0xff_ff_ff_ff
 	}
@ -80,7 +80,7 @@ func CreateBtmRspFramesData(statusRsp *BtmStatusRspFrame, msg []byte, msgPackErr
 	crc32cData = append(crc32cData, dtBCf.CanData...)
 	crc32cData = append(crc32cData, canTimeToBytes(end.TkB)...)
 	//
-	end.Crc32C = calculateDataRspCrc32C(crc32cData)
+	end.Crc32C = Can_Crc32(crc32cData)
 	//
 	endCf := end.Encode()
 	//
--- a/third_party/message/can_bus.go
+++ b/third_party/message/can_bus.go
@ -1,5 +1,7 @@
 package message
 import "github.com/snksoft/crc"
 /////////////////////CAN串行总线 bit 流处理 ////////////////////////
 // CanBits 可以在CAN总线上传输的bit流
@ -199,42 +201,55 @@ const (
 ///////////////////// CRC ////////////////////////
-const (
+// const (
-	CAN_CRC16_ATPREQ = 0x11021
+// 	CAN_CRC16_ATPREQ = 0x11021
-	CAN_CRC32        = 0x04C11DB7
+// 	CAN_CRC32        = 0x04C11DB7
-)
+// )
 var (
-	crc16AtpReqTable []uint32 = nil
+	CAN_CRC16 = crc.CCITT
-	crc32CanTable    []uint32 = nil
+	CAN_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x4A503DF1, Init: 0x00FF0000, ReflectIn: true, ReflectOut: true, FinalXor: 0xFFFFFFFF}
 )
-func CreateCanCrcTable() {
+func Can_Crc16(data []byte) uint16 {
-	if crc16AtpReqTable == nil {
+	return uint16(crc.CalculateCRC(CAN_CRC16, data))
 		crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
 	}
 	if crc32CanTable == nil {
 		crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
 	}
 }
 func calculateAtpReqCrc16(data []byte) uint16 {
 	crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
 	return uint16(crc)
 }
 func calculateCanCrc32(data []byte) uint32 {
 	crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
 	return crc
 }
-// CRC32A的校验范围是：报文+时间戳A
+func Can_Crc32(data []byte) uint32 {
-func calculateDataRspCrc32A(data []byte) uint32 {
+	return uint32(crc.CalculateCRC(CAN_CRC32, data))
 	return calculateCanCrc32(data)
 }
-// CRC32B的校验范围是：报文+时间戳B
+// var (
-func calculateDataRspCrc32B(data []byte) uint32 {
+// 	crc16AtpReqTable []uint32 = nil
-	return calculateCanCrc32(data)
+// 	crc32CanTable    []uint32 = nil
-}
+// )
-func calculateDataRspCrc32C(data []byte) uint32 {
+
-	return calculateCanCrc32(data)
+// func CreateCanCrcTable() {
-}
+// 	if crc16AtpReqTable == nil {
 // 		crc16AtpReqTable = CreateCrcTable(CAN_CRC16_ATPREQ, 16, false)
 // 	}
 // 	if crc32CanTable == nil {
 // 		crc32CanTable = CreateCrcTable(CAN_CRC32, 32, false)
 // 	}
 // }
 // func calculateAtpReqCrc16(data []byte) uint16 {
 // 	crc := CrcTableBased(data, 16, 0, false, false, 0, crc16AtpReqTable)
 // 	return uint16(crc)
 // }
 // func calculateCanCrc32(data []byte) uint32 {
 // 	crc := CrcTableBased(data, 32, 0xFF_FF_FF_FF, false, false, 0, crc32CanTable)
 // 	return crc
 // }
 // // CRC32A的校验范围是：报文+时间戳A
 // func calculateDataRspCrc32A(data []byte) uint32 {
 // 	return calculateCanCrc32(data)
 // }
 // // CRC32B的校验范围是：报文+时间戳B
 // func calculateDataRspCrc32B(data []byte) uint32 {
 // 	return calculateCanCrc32(data)
 // }
 // func calculateDataRspCrc32C(data []byte) uint32 {
 // 	return calculateCanCrc32(data)
 // }
--- a/third_party/message/rssp.go
+++ b/third_party/message/rssp.go
@ -62,7 +62,7 @@ func RsspPackCrc16Check(pack []byte) bool {
 	}
 	//
 	pack16 := binary.LittleEndian.Uint16(pack[len(pack)-2:])
-	crc16 := RsspCrc16(pack[:len(pack)-2])
+	crc16 := Rssp_I_Crc16(pack[:len(pack)-2])
 	//
 	return crc16 == pack16
 }
@ -104,7 +104,7 @@ func (r *RsspRsd) Encode() []byte {
 	//用户数据包
 	data = append(data, r.Sad...)
 	//报文尾-CRC16
-	r.Crc16 = RsspCrc16(data)
+	r.Crc16 = Rssp_I_Crc16(data)
 	data = binary.LittleEndian.AppendUint16(data, r.Crc16)
 	//
 	return data
@ -156,7 +156,7 @@ func (r *RsspSse) Encode() []byte {
 	data = binary.LittleEndian.AppendUint32(data, r.SeqEnq1)
 	data = binary.LittleEndian.AppendUint32(data, r.SeqEnq2)
 	//报文尾-CRC16
-	r.Crc16 = RsspCrc16(data)
+	r.Crc16 = Rssp_I_Crc16(data)
 	data = binary.LittleEndian.AppendUint16(data, r.Crc16)
 	return data
 }
@ -207,7 +207,7 @@ func (r *RsspSsr) Encode() []byte {
 	data = binary.LittleEndian.AppendUint32(data, r.Tic2)
 	data = append(data, r.Dvn)
 	//报文尾-CRC16
-	r.Crc16 = RsspCrc16(data)
+	r.Crc16 = Rssp_I_Crc16(data)
 	data = binary.LittleEndian.AppendUint16(data, r.Crc16)
 	return data
 }
--- a/third_party/message/rssp_code.go
+++ b/third_party/message/rssp_code.go
@ -1,206 +1,233 @@
 package message
 import "github.com/snksoft/crc"
 //rssp 协议中crc校验，查表法实现
-// Crc16Table G(x)=X16+X11+X4+1，计算初始值为0
+// // Crc16Table G(x)=X16+X11+X4+1，计算初始值为0
-var crc16Table []uint32 = nil
+// var crc16Table []uint32 = nil
-var crc32C1Table []uint32 = nil
+// var crc32C1Table []uint32 = nil
-var crc32C2Table []uint32 = nil
+// var crc32C2Table []uint32 = nil
 const ( //CRC生成多项式
 	RsspCrc16GX uint32 = 0b1_0000_1000_0001_0001 //生成多项式 G(X)=X16+X11+X4+1
 	RsspCrc32C1 uint32 = 0x100d4e63              //安全通道1 CRC32生成多项式
 	RsspCrc32C2 uint32 = 0x8ce56011              //安全通道1 CRC32生成多项式
 )
 const ( //时间戳生成多项式
 	RsspTsC1 uint32 = 0x0fc22f87
 	RsspTsC2 uint32 = 0xc3e887e1
 )
 const (
-	SCW_C1 = uint32(0xae390b5a) //SCW常
+	// SCW常量
-	SCW_C2 = uint32(0xc103589c) //SCW常
+	RSSP_I_C1_SCW uint32 = 0xae390b5a
 	RSSP_I_C2_SCW uint32 = 0xc103589c
 	//时间戳生成多项式
 	RSSP_I_C1_TS uint32 = 0x0fc22f87
 	RSSP_I_C2_TS uint32 = 0xc3e887e1
 )
-// InitRsspCrcTable 初始化RSSP协议中需要的CRC表
+var (
-func InitRsspCrcTable() {
+	// crc16多项式为G(x)=X16+X11+X4+1
-	if crc16Table == nil {
+	RSSP_I_CRC16 = &crc.Parameters{Width: 16, Polynomial: 0x0811, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
-		crc16Table = CreateCrcTable(RsspCrc16GX, 16, false)
+	// 通道1 crc32多项式为0x100d4e63
-	}
+	RSSP_I_C1_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x100d4e63, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
-	if crc32C1Table == nil {
+	// 通道2 crc32多项式为0x8ce56011
-		crc32C1Table = CreateCrcTable(RsspCrc32C1, 32, false)
+	RSSP_I_C2_CRC32 = &crc.Parameters{Width: 32, Polynomial: 0x8ce56011, Init: 0x0, ReflectIn: false, ReflectOut: false, FinalXor: 0x0}
-	}
+)
-	if crc32C2Table == nil {
+
-		crc32C2Table = CreateCrcTable(RsspCrc32C2, 32, false)
+// Rssp_I_Crc16计算
-	}
+func Rssp_I_Crc16(data []byte) uint16 {
-}
+	return uint16(crc.CalculateCRC(RSSP_I_CRC16, data))
 func RsspCrc16(data []byte) uint16 {
 	return uint16(CrcTableBased(data, 16, 0, false, false, 0, crc16Table))
 }
 func RsspC1Crc32(data []byte) uint32 {
 	return CrcTableBased(data, 32, 0, false, false, 0, crc32C1Table)
 }
 func RsspC2Crc32(data []byte) uint32 {
 	return CrcTableBased(data, 32, 0, false, false, 0, crc32C2Table)
 }
-// CreateCrcTable 创建CRC表，支持8、16、32位
+// 通道1的crc32
-func CreateCrcTable(polynomial uint32, width int, input_reflected bool) []uint32 {
+func Rssp_I_Crc32C1(data []byte) uint32 {
-	var table = make([]uint32, 0, 256)
+	return uint32(crc.CalculateCRC(RSSP_I_C1_CRC32, data))
 	for bt := 0x00; bt <= 0xff; bt++ {
 		table = append(table, lookup(uint32(bt), polynomial, width, input_reflected))
 	}
 	return table
 }
 // 通道2的crc32
 func Rssp_I_Crc32C2(data []byte) uint32 {
 	return uint32(crc.CalculateCRC(RSSP_I_C2_CRC32, data))
 }
 // const ( //CRC生成多项式
 // 	RsspCrc16GX uint32 = 0b1_0000_1000_0001_0001 //生成多项式 G(X)=X16+X11+X4+1
 // 	RsspCrc32C1 uint32 = 0x100d4e63              //安全通道1 CRC32生成多项式
 // 	RsspCrc32C2 uint32 = 0x8ce56011              //安全通道1 CRC32生成多项式
 // )
 // // InitRsspCrcTable 初始化RSSP协议中需要的CRC表
 // func InitRsspCrcTable() {
 // 	if crc16Table == nil {
 // 		crc16Table = CreateCrcTable(RsspCrc16GX, 16, false)
 // 	}
 // 	if crc32C1Table == nil {
 // 		crc32C1Table = CreateCrcTable(RsspCrc32C1, 32, false)
 // 	}
 // 	if crc32C2Table == nil {
 // 		crc32C2Table = CreateCrcTable(RsspCrc32C2, 32, false)
 // 	}
 // }
 // func RsspCrc16(data []byte) uint16 {
 // 	return uint16(CrcTableBased(data, 16, 0, false, false, 0, crc16Table))
 // }
 // func RsspC1Crc32(data []byte) uint32 {
 // 	return CrcTableBased(data, 32, 0, false, false, 0, crc32C1Table)
 // }
 // func RsspC2Crc32(data []byte) uint32 {
 // 	return CrcTableBased(data, 32, 0, false, false, 0, crc32C2Table)
 // }
 // // CreateCrcTable 创建CRC表，支持8、16、32位
 // func CreateCrcTable(polynomial uint32, width int, input_reflected bool) []uint32 {
 // 	var table = make([]uint32, 0, 256)
 // 	for bt := 0x00; bt <= 0xff; bt++ {
 // 		table = append(table, lookup(uint32(bt), polynomial, width, input_reflected))
 // 	}
 // 	return table
 // }
 /////////////////////////////////////////////////////////////////////////////
-// 反转(0b00001010->0b01010000)
+// // 反转(0b00001010->0b01010000)
-func reflect(data uint32, width int) uint32 {
+// func reflect(data uint32, width int) uint32 {
-	var register1 uint32 = 0
+// 	var register1 uint32 = 0
-	var significant_mask uint32 = 0xffffffff >> (32 - width)
+// 	var significant_mask uint32 = 0xffffffff >> (32 - width)
-	var register_msb_mask uint32 = 1 << (width - 1)
+// 	var register_msb_mask uint32 = 1 << (width - 1)
-	var register_lsb_mask uint32 = 1
+// 	var register_lsb_mask uint32 = 1
-	for i := 0; i < width; i++ {
+// 	for i := 0; i < width; i++ {
-		need_or := (data>>i)&register_lsb_mask == register_lsb_mask
+// 		need_or := (data>>i)&register_lsb_mask == register_lsb_mask
-		if need_or {
+// 		if need_or {
-			register1 |= register_msb_mask >> i
+// 			register1 |= register_msb_mask >> i
-		}
+// 		}
-	}
+// 	}
-	return register1 & significant_mask
+// 	return register1 & significant_mask
-}
+// }
-// 计算单个数值的crc
+// // 计算单个数值的crc
-func lookup(data uint32,
+// func lookup(data uint32,
-	polynomial uint32,
+// 	polynomial uint32,
-	width int,
+// 	width int,
-	input_reflected bool) uint32 {
+// 	input_reflected bool) uint32 {
-	var register1 uint32 = 0
+// 	var register1 uint32 = 0
-	var significant_mask uint32 = 0xffffffff >> (32 - width)
+// 	var significant_mask uint32 = 0xffffffff >> (32 - width)
-	var register_msb_mask uint32 = 1 << (width - 1)
+// 	var register_msb_mask uint32 = 1 << (width - 1)
-	var register_lsb_mask uint32 = 1
+// 	var register_lsb_mask uint32 = 1
-	var byte_msb_mask uint32 = 0x80
+// 	var byte_msb_mask uint32 = 0x80
-	var byte_lsb_mask uint32 = 1
+// 	var byte_lsb_mask uint32 = 1
-	if input_reflected {
+// 	if input_reflected {
-		polynomial = reflect(polynomial, width)
+// 		polynomial = reflect(polynomial, width)
-	}
+// 	}
-	for i := 0; i < 1+(width/8); i++ {
+// 	for i := 0; i < 1+(width/8); i++ {
-		var byteData uint32 = 0
+// 		var byteData uint32 = 0
-		if i < 1 {
+// 		if i < 1 {
-			byteData = data
+// 			byteData = data
-		}
+// 		}
-		for j := 0; j < 8; j++ {
+// 		for j := 0; j < 8; j++ {
-			need_xor := false
+// 			need_xor := false
-			if input_reflected {
+// 			if input_reflected {
-				need_xor = (register1 & register_lsb_mask) == register_lsb_mask
+// 				need_xor = (register1 & register_lsb_mask) == register_lsb_mask
-				register1 >>= 1
+// 				register1 >>= 1
-				need_or := (byteData & byte_lsb_mask) == byte_lsb_mask
+// 				need_or := (byteData & byte_lsb_mask) == byte_lsb_mask
-				byteData >>= 1
+// 				byteData >>= 1
-				if need_or {
+// 				if need_or {
-					register1 |= register_msb_mask
+// 					register1 |= register_msb_mask
-				}
+// 				}
-			} else {
+// 			} else {
-				need_xor = (register1 & register_msb_mask) == register_msb_mask
+// 				need_xor = (register1 & register_msb_mask) == register_msb_mask
-				register1 <<= 1
+// 				register1 <<= 1
-				need_or := (byteData & byte_msb_mask) == byte_msb_mask
+// 				need_or := (byteData & byte_msb_mask) == byte_msb_mask
-				byteData <<= 1
+// 				byteData <<= 1
-				if need_or {
+// 				if need_or {
-					register1 |= register_lsb_mask
+// 					register1 |= register_lsb_mask
-				}
+// 				}
-			}
+// 			}
-			if need_xor {
+// 			if need_xor {
-				register1 ^= polynomial
+// 				register1 ^= polynomial
-			}
+// 			}
-		}
+// 		}
-	}
+// 	}
-	return register1 & significant_mask
+// 	return register1 & significant_mask
-}
+// }
-// CrcTableBased 查表法计算字节数组的crc
+// // CrcTableBased 查表法计算字节数组的crc
-func CrcTableBased(
+// func CrcTableBased(
-	data []byte,
+// 	data []byte,
-	width int,
+// 	width int,
-	initial_value uint32,
+// 	initial_value uint32,
-	input_reflected bool,
+// 	input_reflected bool,
-	result_reflected bool,
+// 	result_reflected bool,
-	final_xor_value uint32,
+// 	final_xor_value uint32,
-	table []uint32) uint32 {
+// 	table []uint32) uint32 {
-	//
+// 	//
-	length := len(data)
+// 	length := len(data)
-	var register1 uint32 = initial_value
+// 	var register1 uint32 = initial_value
-	var significant_mask uint32 = 0xffffffff >> (32 - width)
+// 	var significant_mask uint32 = 0xffffffff >> (32 - width)
-	var register_lsb_mask uint32 = 0xff
+// 	var register_lsb_mask uint32 = 0xff
-	if input_reflected {
+// 	if input_reflected {
-		register1 = reflect(register1, width)
+// 		register1 = reflect(register1, width)
-	}
+// 	}
-	for i := 0; i < length; i++ {
+// 	for i := 0; i < length; i++ {
-		var byteData = uint32(data[i])
+// 		var byteData = uint32(data[i])
-		var shift_out uint32 = 0
+// 		var shift_out uint32 = 0
-		if input_reflected {
+// 		if input_reflected {
-			shift_out = register1 & register_lsb_mask
+// 			shift_out = register1 & register_lsb_mask
-			register1 = (register1 >> 8) ^ table[shift_out^byteData]
+// 			register1 = (register1 >> 8) ^ table[shift_out^byteData]
-		} else {
+// 		} else {
-			shift_out = (register1 >> (width - 8)) & register_lsb_mask
+// 			shift_out = (register1 >> (width - 8)) & register_lsb_mask
-			register1 = (register1 << 8) ^ table[shift_out^byteData]
+// 			register1 = (register1 << 8) ^ table[shift_out^byteData]
-		}
+// 		}
-	}
+// 	}
-	if input_reflected != result_reflected {
+// 	if input_reflected != result_reflected {
-		register1 = reflect(register1, width)
+// 		register1 = reflect(register1, width)
-	}
+// 	}
-	return (register1 ^ final_xor_value) & significant_mask
+// 	return (register1 ^ final_xor_value) & significant_mask
-}
+// }
-func Crc(data []byte,
+// func Crc(data []byte,
-	polynomial uint32,
+// 	polynomial uint32,
-	width int,
+// 	width int,
-	initial_value uint32,
+// 	initial_value uint32,
-	input_reflected bool,
+// 	input_reflected bool,
-	result_reflected bool,
+// 	result_reflected bool,
-	final_xor_value uint32) uint32 {
+// 	final_xor_value uint32) uint32 {
-	length := len(data)
+// 	length := len(data)
-	var register1 uint32 = initial_value
+// 	var register1 uint32 = initial_value
-	var significant_mask uint32 = 0xffffffff >> (32 - width)
+// 	var significant_mask uint32 = 0xffffffff >> (32 - width)
-	var register_lsb_mask uint32 = 0xff
+// 	var register_lsb_mask uint32 = 0xff
-	if input_reflected {
+// 	if input_reflected {
-		register1 = reflect(register1, width)
+// 		register1 = reflect(register1, width)
-	}
+// 	}
-	for i := 0; i < length; i++ {
+// 	for i := 0; i < length; i++ {
-		var byteData uint32 = uint32(data[i])
+// 		var byteData uint32 = uint32(data[i])
-		var shift_out uint32 = 0
+// 		var shift_out uint32 = 0
-		var value uint32 = 0
+// 		var value uint32 = 0
-		if input_reflected {
+// 		if input_reflected {
-			shift_out = register1 & register_lsb_mask
+// 			shift_out = register1 & register_lsb_mask
-			value = lookup(shift_out^byteData, polynomial, width, input_reflected)
+// 			value = lookup(shift_out^byteData, polynomial, width, input_reflected)
-			register1 = (register1 >> 8) ^ value
+// 			register1 = (register1 >> 8) ^ value
-		} else {
+// 		} else {
-			shift_out = (register1 >> (width - 8)) & register_lsb_mask
+// 			shift_out = (register1 >> (width - 8)) & register_lsb_mask
-			value = lookup(shift_out^byteData, polynomial, width, input_reflected)
+// 			value = lookup(shift_out^byteData, polynomial, width, input_reflected)
-			register1 = (register1 << 8) ^ value
+// 			register1 = (register1 << 8) ^ value
-		}
+// 		}
-	}
+// 	}
-	if input_reflected != result_reflected {
+// 	if input_reflected != result_reflected {
-		register1 = reflect(register1, width)
+// 		register1 = reflect(register1, width)
-	}
+// 	}
-	return (register1 ^ final_xor_value) & significant_mask
+// 	return (register1 ^ final_xor_value) & significant_mask
-}
+// }
 //////////////////////////LFSR//////////////////////////////
--- a/third_party/semi_physical_train/semi_physical_train.go
+++ b/third_party/semi_physical_train/semi_physical_train.go
@ -6,11 +6,13 @@ import (
 	"joylink.club/bj-rtsts-server/config"
 	"joylink.club/bj-rtsts-server/third_party/message"
 	"joylink.club/bj-rtsts-server/third_party/tpapi"
 	"joylink.club/bj-rtsts-server/third_party/udp"
 )
 // 半实物仿真列车通信接口
 type SemiPhysicalTrain interface {
 	tpapi.ThirdPartyApiService
 	// 启动半实物仿真消息处理
 	Start(manager SemiPhysicalMessageManager)
 	// 停止半实物仿真消息处理
@ -27,14 +29,18 @@ type SemiPhysicalMessageManager interface {
 }
 type semiPhysicalTrainImpl struct {
 	tpapi.ThirdPartyApiService
 	trainControlUdpServer   udp.UdpServer
 	trainSpeedInfoUdpClient udp.UdpClient
 	udpDelayRecorder *tpapi.UdpDelayRecorder
 	manager   SemiPhysicalMessageManager
 	runConfig *config.VobcConfig
 }
 func (s *semiPhysicalTrainImpl) handleTrainControlMsg(b []byte) {
 	s.udpDelayRecorder.RecordInterval()
 	handler := s.manager
 	if handler != nil {
 		handler.HandleSemiPhysicalTrainControlMsg(b)
@ -55,12 +61,14 @@ func (s *semiPhysicalTrainImpl) Start(manager SemiPhysicalMessageManager) {
 	// 初始化客户端、服务端
 	s.initSemiPhysical()
 	s.manager = manager
 	s.UpdateState(tpapi.ThirdPartyState_Normal)
 	s.udpDelayRecorder.Start()
 }
 func (s *semiPhysicalTrainImpl) Stop() {
 	initMutex.Lock()
 	defer initMutex.Unlock()
-	_default = nil
+	s.udpDelayRecorder.Stop()
 	if s.trainControlUdpServer != nil {
 		s.trainControlUdpServer.Close()
 	}
@ -68,6 +76,7 @@ func (s *semiPhysicalTrainImpl) Stop() {
 		s.trainSpeedInfoUdpClient.Close()
 	}
 	s.manager = nil
 	s.UpdateState(tpapi.ThirdPartyState_Closed)
 }
 func (s *semiPhysicalTrainImpl) SendTrainControlMessage(info *message.DynamicsTrainInfo) {
@ -85,11 +94,22 @@ func (s *semiPhysicalTrainImpl) initSemiPhysical() {
 var _default SemiPhysicalTrain
 var initMutex sync.Mutex
 const Interval int = 20
 func Default() SemiPhysicalTrain {
 	initMutex.Lock()
 	defer initMutex.Unlock()
 	if _default == nil {
-		_default = &semiPhysicalTrainImpl{}
+		_default = &semiPhysicalTrainImpl{
 			ThirdPartyApiService: tpapi.NewThirdPartyApiService(),
 			udpDelayRecorder: tpapi.NewUdpDelayRecorder(Interval, func(err error) {
 				if err != nil {
 					_default.UpdateState(tpapi.ThirdPartyState_Broken)
 				} else {
 					_default.UpdateState(tpapi.ThirdPartyState_Normal)
 				}
 			}),
 		}
 	}
 	return _default
 }
--- a/third_party/third_party.go
+++ b/third_party/third_party.go
@ -1,8 +1,24 @@
 package third_party
-import "joylink.club/bj-rtsts-server/third_party/message"
+import (
 	"joylink.club/bj-rtsts-server/dto/state_proto"
 	"joylink.club/bj-rtsts-server/third_party/dynamics"
 	"joylink.club/bj-rtsts-server/third_party/tpapi"
 )
-func Init() {
+func GetRunningServiceStates(t state_proto.SimulationThirdPartyApiService_Type) *state_proto.SimulationThirdPartyApiService {
-	message.InitRsspCrcTable()
+	ss := &state_proto.SimulationThirdPartyApiService{}
-	message.CreateCanCrcTable()
+	switch dynamics.Default().State() {
 	case tpapi.ThirdPartyState_Normal:
 		ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
 			Type:  state_proto.SimulationThirdPartyApiService_Dynamics,
 			State: state_proto.SimulationThirdPartyApiService_Normal,
 		})
 	case tpapi.ThirdPartyState_Broken:
 		ss.States = append(ss.States, &state_proto.SimulationThirdPartyApiServiceState{
 			Type:  state_proto.SimulationThirdPartyApiService_Dynamics,
 			State: state_proto.SimulationThirdPartyApiService_Error,
 		})
 	}
 	return ss
 }
--- a/third_party/tpapi/service.go
+++ b/third_party/tpapi/service.go
@ -0,0 +1,131 @@
 package tpapi
 import (
 	"context"
 	"fmt"
 	"sync"
 	"time"
 )
 type ThirdPartyApiServiceState uint32
 const (
 	// 服务未启动
 	ThirdPartyState_Closed ThirdPartyApiServiceState = iota
 	// 服务正常
 	ThirdPartyState_Normal
 	// 服务异常
 	ThirdPartyState_Broken
 )
 // 第三方对接接口服务
 type ThirdPartyApiService interface {
 	// 服务状态
 	State() ThirdPartyApiServiceState
 	// 更新状态
 	UpdateState(state ThirdPartyApiServiceState)
 }
 func NewThirdPartyApiService() ThirdPartyApiService {
 	return &thirdPartyApiService{
 		state: ThirdPartyState_Closed,
 	}
 }
 type thirdPartyApiService struct {
 	state ThirdPartyApiServiceState
 }
 func (s *thirdPartyApiService) UpdateState(state ThirdPartyApiServiceState) {
 	s.state = state
 }
 func (s *thirdPartyApiService) State() ThirdPartyApiServiceState {
 	return s.state
 }
 // UDP通信延时记录
 type UdpDelayRecorder struct {
 	mu sync.Mutex
 	// 接收消息间隔，单位毫秒
 	interval int
 	// 上一次收到消息时刻
 	lastReceiedTime int64
 	// 是否发生异常
 	err error
 	// 长时间未收到消息或恢复处理回调
 	handler func(err error)
 	cancelFunc func()
 	done       chan struct{} // 服务协程退出信号
 }
 func NewUdpDelayRecorder(interval int, handler func(err error)) *UdpDelayRecorder {
 	return &UdpDelayRecorder{
 		interval:        interval,
 		lastReceiedTime: 0,
 		handler:         handler,
 	}
 }
 func (r *UdpDelayRecorder) Start() {
 	r.mu.Lock()
 	defer r.mu.Unlock()
 	r.lastReceiedTime = 0
 	r.err = nil
 	r.done = make(chan struct{})
 	ctx, cf := context.WithCancel(context.Background())
 	r.cancelFunc = cf
 	go r.checkTimeout(ctx)
 }
 func (r *UdpDelayRecorder) checkTimeout(ctx context.Context) {
 	defer close(r.done)
 	for {
 		select {
 		case <-ctx.Done():
 			return
 		default:
 		}
 		time.Sleep(time.Millisecond * time.Duration(r.interval*2))
 		lastReceiedTime := r.lastReceiedTime
 		interval := int(time.Now().UnixMilli() - lastReceiedTime)
 		if r.err == nil && interval > calUdpTimeout(r.interval) { // 超时故障回调
 			r.err = fmt.Errorf("UDP通信超时未收到消息,可能网络异常")
 			if r.handler != nil {
 				r.handler(r.err)
 			}
 		} else if r.err != nil && interval <= r.interval*3 { // 恢复正常回调
 			r.err = nil
 			if r.handler != nil {
 				r.handler(r.err)
 			}
 		}
 	}
 }
 func (r *UdpDelayRecorder) Stop() {
 	r.mu.Lock()
 	defer r.mu.Unlock()
 	r.cancelFunc()
 	<-r.done
 	r.lastReceiedTime = 0
 	r.err = nil
 }
 // 记录时间间隔
 func (r *UdpDelayRecorder) RecordInterval() {
 	r.mu.Lock()
 	defer r.mu.Unlock()
 	// 记录时间及间隔
 	r.lastReceiedTime = time.Now().UnixMilli()
 }
 func calUdpTimeout(interval int) int {
 	if interval <= 50 {
 		return interval * 10
 	} else {
 		return interval * 5
 	}
 }
--- a/third_party/udp/udp_server.go
+++ b/third_party/udp/udp_server.go
@ -1,6 +1,7 @@
 package udp
 import (
 	"context"
 	"log/slog"
 	"net"
 	"runtime/debug"
@ -14,9 +15,10 @@ type UdpServer interface {
 type UdpMsgHandler func(b []byte)
 type server struct {
-	addr    string
+	addr     string
-	conn    *net.UDPConn
+	conn     *net.UDPConn
-	handler UdpMsgHandler
+	handler  UdpMsgHandler
 	cancelFn context.CancelFunc
 }
 // NewServer creates a new instance of UdpServer.
@ -34,29 +36,37 @@ func (s *server) Listen() {
 		panic(err)
 	}
 	s.conn = conn
 	ctx, cfn := context.WithCancel(context.Background())
 	// 启动监听处理
-	go s.listenAndHandle()
+	go s.listenAndHandle(ctx)
 	s.cancelFn = cfn
 }
 func (s *server) Close() {
-	err := s.conn.Close()
+	s.cancelFn()
-	if err != nil {
+	// err := s.conn.Close()
-		slog.Error("udp server close error", "error", err)
+	// if err != nil {
-	}
+	// 	slog.Error("udp server close error", "error", err)
 	// }
 }
-func (s *server) listenAndHandle() {
+func (s *server) listenAndHandle(ctx context.Context) {
 	defer s.conn.Close()
 	for {
-		b := make([]byte, 1024)
+		select {
-		n, err := s.conn.Read(b)
+		case <-ctx.Done():
-		if err != nil {
+			slog.Info("udp server listen 关闭", "addr", s.addr)
 			slog.Error("udp server read error", err)
 			return
 		default:
 		}
-		if n > 0 {
+		buf := make([]byte, 1024)
-			go s.handle(b[0:n])
+		n, _, err := s.conn.ReadFromUDP(buf)
 		if err != nil {
 			slog.Error("udp server read error", "addr", s.addr, "error", err)
 			continue
 		}
 		// slog.Debug("udp server handle", "addr", ap.String())
 		go s.handle(buf[:n])
 	}
 }
		`@ -1 +1 @@`
			`Subproject commit f9f2cabf35774b9be45afd6474a4d40f32a7da36`				`Subproject commit 3a30efc9fe949cd5ab9898073f00a093716f279e`
		`@ -1 +1 @@`
			`Subproject commit ba95c8bdefed2ba5803a222c55bdd33b40e47f12`				`Subproject commit d94a8335dcffbb44d7d865d8b7200da335e2241f`